Lane change models denote the decision-making behavior through which drivers choose to switch lanes. These models often distinguish lane changes as one of two types: 1) discretionary, in which drivers change to a lane perceived to offer better traffic conditions, most notably faster driving speeds, and 2) mandatory, in which drivers change lanes to follow a specified path, for example in the direction of an off-ramp. In both settings, particular focus is placed on estimating a given target lane's safety and utility (particularly in terms of speed gains and time-to-collision). For a more comprehensive review of lane change models, we refer the reader to [1]}, [2]}.
